Controller and actuator interface verification method and device
By setting functional failure signals and functional response signals between the intelligent driving controller of the car and the underlying actuator, mutual verification is achieved, and the problem of unreliable verification in the prior art is solved and driving safety is improved.
Patent Information
- Application Number
- CN202411381213.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-02-14
AI Technical Summary
The verification between the existing automotive intelligent driving controller and the underlying actuator is unreliable, which can easily lead to driving safety risks.
Mutual verification is achieved by setting a function failure signal and a function response signal between the controller and the actuator. The controller verifies the function response signal of the actuator, and sets a fault state if it is abnormal; the actuator detects the function failure signal of the controller, and does not execute the corresponding function request if it is faulty.
It improves the verification reliability between the intelligent driving controller and the underlying actuator, avoids verification interlocking problems, and ensures the safety of function operation.
Smart Images
Figure CN119439948A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of display technology, and in particular to a method and device for verifying an interface between a controller and an actuator. Background Art
[0002] With the improvement of people's living standards and the rapid development of social economy, the use rate of cars has gradually increased, and more and more cars have entered people's lives, bringing great convenience to all aspects of people's lives. Among them, with the rapid development of driving assistance functions, people's acceptance and demand for self-driving cars are gradually increasing.
[0003] The control effect of the driving assistance function on the car affects the safety of driving, so safety verification will be carried out between the upper-level intelligent driving controller and the underlying actuator. Some cars will choose to unilaterally verify the underlying actuator by the upper-level intelligent driving controller when designing, but once the upper-level intelligent driving controller fails, it will cause random request information, and the underlying actuator cannot judge and choose to execute, which will cause safety risks; some cars are designed with the underlying actuator to verify the fault status of the upper-level intelligent driving controller, but the upper-level intelligent driving controller does not verify the fault status of the lower layer. Once the underlying actuator fails, the upper-level intelligent driving controller cannot be informed in time, which is also prone to driving safety. Summary of the invention
[0004] The embodiments of the present invention provide a method and device for verifying the interface between a controller and an actuator, so as to improve the verification reliability between the intelligent driving controller of an automobile and the underlying actuator.
[0005] In a first aspect, an embodiment of the present invention provides a method for verifying an interface between a controller and an actuator, comprising:
[0006] The controller verifies the function response signal of the actuator, and if the signal state of the function response signal is an abnormal state, sets the signal state of the function fault signal of the function corresponding to the function response signal of the controller to a fault state;
[0007] The actuator detects the functional fault signal of the controller, and if the signal state of the functional fault signal is a fault state, does not execute the functional request of the controller corresponding to the functional fault signal.
[0008] In a second aspect, an embodiment of the present invention provides an interface verification device between a controller and an actuator, which can execute the interface verification method between a controller and an actuator provided by any embodiment of the present invention, including: a controller and at least one actuator;
[0009] The controller is used to check the function response signal of the actuator, and when the signal state of the function response signal is an abnormal state, set the signal state of the function fault signal of the function of the controller corresponding to the function response signal to a fault state;
[0010] The actuator is used to detect the functional fault signal of the controller, and when the signal state of the functional fault signal is a fault state, not execute the functional request of the controller corresponding to the functional fault signal.
[0011] In the present invention, a function fault signal of a corresponding function is set in the controller, and a function response signal of a corresponding function is set in the actuator, so that the controller can verify the signal state of the function response signal, and the actuator can verify the function fault signal. In this embodiment, mutual verification is achieved between the upper-layer controller and the lower-layer controller, so that they monitor each other's real-time status. When the corresponding function of the controller fails, the actuator does not affect the controller's function request, but keeps the signal state of its own function response signal unaffected by the signal state of the function fault signal, that is, the failure of the controller does not affect the actuator's own response capability. In this embodiment, it can ensure that the controller and the actuator can be verified in time when there is a fault, and it can also avoid the problem of verification interlock caused by the actuator being affected by the function fault signal, thereby ensuring the safety of the function operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 A schematic diagram of a flow chart of a method for verifying an interface between a controller and an actuator provided in an embodiment of the present invention;
[0013] Figure 2 A schematic flow chart of another method for verifying an interface between a controller and an actuator is provided for an embodiment of the present invention;
[0014] Figure 3 A schematic flow chart of another method for verifying an interface between a controller and an actuator is provided for an embodiment of the present invention;
[0015] Figure 4 A schematic diagram of the structure of a device for verifying an interface between a controller and an actuator provided in an embodiment of the present invention;
[0016] Figure 5 A schematic structural diagram of another device for verifying an interface between a controller and an actuator provided in an embodiment of the present invention. DETAILED DESCRIPTION
[0017] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.
[0018] With the gradual development of automobile technology, driving assistance functions have gradually become popular. The most common ones are adaptive cruise control, emergency braking, and vehicle centering. The operating logic of these driving assistance functions is generally to rely on sensors such as cameras and radars to detect the driving environment around the vehicle, process the visual information through visual processing chips, and then fuse the visual information with radar recognition information to more accurately obtain traffic participants near the vehicle, and then calculate the vehicle distance, relative speed and other information through the processing chip of the auxiliary driving controller (intelligent driving controller), and compare it with the expected driving effect. According to the driving deviation, the vehicle driving state is adjusted. At this time, it is necessary to send a control request to the underlying actuator. Specifically, according to the driving deviation, the vehicle driving state is adjusted. At this time, it is necessary to send a control request to the underlying actuator. Control acceleration requires sending a torque request to the engine controller / motor controller, control deceleration requires sending a deceleration request to the chassis controller, and control the lateral position of the vehicle requires sending a turning angle request to the electric steering controller.
[0019] The control effect of the upper controller (intelligent driving controller) on the lower actuator affects the safety of driving. As mentioned in the background technology, the unilateral verification of the upper controller on the lower actuator and the verification of the fault state of the upper controller by the lower actuator cannot avoid the occurrence of dangerous conditions. In the process of implementing the present invention, the inventor found that the upper controller and the lower actuator can realize mutual verification to improve the safety of driving.
[0020] Specifically, an embodiment of the present invention provides a method for verifying an interface between a controller and an actuator, such as Figure 1 As shown, Figure 1 A flowchart of a method for verifying an interface between a controller and an actuator provided by an embodiment of the present invention. The method for verifying an interface between a controller and an actuator comprises the following steps:
[0021] Step S101: The controller checks the function response signal of the actuator. If the signal state of the function response signal is abnormal, the signal state of the function fault signal of the function corresponding to the function response signal of the controller is set to a fault state.
[0022] The controller is an upper-layer controller for controlling assisted driving or automatic driving. Optionally, the controller can be an assisted driving controller. The actuator is a bottom-layer controller, which is used to perform corresponding functional operations according to the functional request issued by the upper-layer controller. The number of actuators can be one or more. Optionally, the actuator can include at least one of the following: engine controller, vehicle controller, chassis controller and electric power steering controller. The function of the controller requires one or more actuators to respond and execute. Exemplarily, when the adaptive cruise function is used, the engine controller, vehicle controller, chassis controller and electric power steering controller all need to accept the function request of the controller to perform the corresponding operation. For example, the engine controller is used to provide the corresponding vehicle speed, the vehicle controller is used to provide sensor information, the chassis controller can control adaptive control, and the electric power steering controller controls the corner problem. The emergency braking function requires the chassis controller and the engine controller to realize the deceleration process. The vehicle centering function requires the chassis controller to perform lane departure warning.
[0023] The functional failure signal of the function sent by the controller to the actuator corresponds to a functional response signal of the actuator. Specifically, the controller obtains the functional response signal of the actuator and detects the signal state of the functional response signal. When the signal state of the functional response signal is an abnormal state, the controller can adjust the functional failure signal corresponding to the function to a fault state. When the signal state of the functional response signal is a normal state, the controller can keep the signal state of the functional failure signal in a normal state. Optionally, the signal state of the functional failure signal may include a fault state and a normal state; the fault state means that the controller cannot implement the function corresponding to the functional failure signal; the normal state means that the controller can implement the function corresponding to the functional failure signal; the signal state of the functional response signal may include an abnormal state and a normal state; the abnormal state means that the actuator cannot execute the function corresponding to the functional response signal; the normal state means that the actuator can execute the function corresponding to the function affecting signal.
[0024] It should be noted that the status signals of several functions are designed in the controller. For example, the deceleration function of the adaptive cruise control and the deceleration function of the automatic emergency braking need to be designed with a status signal to characterize the status of the function. For example, the function1_st (0: no_error, 1: error) signal is used here to characterize the deceleration function of the adaptive cruise control, and the function2_st (0: no_error, 1: error) signal is used to characterize the deceleration function of the automatic emergency braking. In the above signals, 1 represents a fault state (error), and 0 represents a normal state (no_error). Similarly, there can also be function3_st, and function4_st, which are determined according to the number of functions configured by themselves. Signals corresponding to the number of functions are designed in the actuator to characterize the responsiveness to these functions. For example, the chassis controller can respond to both the deceleration request of the automatic emergency braking function and the deceleration request of the adaptive cruise control. It is possible that when responding to the requests of these two functions, the internal implementation logic or execution module is different, so two signals should be designed for representation, response_function1_st{0:OK, 1:NOK}, and response_function2_st. response_function1_st can represent the responsiveness to the deceleration function of adaptive cruise control, and response_function2_st represents the responsiveness to the deceleration function of automatic emergency braking. Similarly, there can also be response_functionX_st(X:1, 2, 3...). Among them, 0 represents the normal state (OK) and 1 represents the abnormal state (NOK).
[0025] Step S102: The executor detects the function fault signal of the controller. If the signal state of the function fault signal is a fault state, the function request of the controller corresponding to the function fault signal is not executed.
[0026] The controller verifies the functional response signal of the actuator, and when the functional response signal is in an abnormal state, the functional fault signal of the controller is adjusted to a fault state. Because when the actuator cannot perform the above function, the above function cannot be realized, and the functional fault signal of the controller is set to a fault state, so as to inform the driver. Thereafter, the actuator will also detect the functional fault signal of the controller. When the functional fault signal is set to a fault state, the actuator stops performing the above function, thereby avoiding safety problems. In this embodiment, whether the controller fails or the actuator fails, it will eventually be reflected in the functional fault signal being adjusted to a fault state, and the functional response signal will not be adjusted due to the signal state of the functional fault signal. That is, while the controller and the actuator are mutually verified in this embodiment, there will be no interlocking state between the functional response signal and the functional fault signal in the mutual verification.
[0027] In an embodiment of the present invention, a function fault signal of a corresponding function is set in the controller, and a function response signal of a corresponding function is set in the actuator, so that the controller can verify the signal state of the function response signal, and the actuator can verify the function fault signal. In this embodiment, mutual verification is implemented between the upper-layer controller and the lower-layer controller, so that they monitor each other's real-time status. When the corresponding function of the controller fails, the actuator does not affect the controller's function request, but keeps the signal state of its own function response signal unaffected by the signal state of the function fault signal, that is, the failure of the controller does not affect the actuator's own response capability. In this embodiment, it can ensure that the controller and the actuator can be verified in time when there is a fault, and it can also avoid the problem of verification interlock caused by the actuator being affected by the function fault signal, thereby ensuring the safety of the function operation.
[0028] The above is the core idea of the present invention. The technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0029] Optionally, the interface verification method between the controller and the actuator may further include: if the signal state of the functional fault signal is set to a fault state, the actuator does not adjust the signal state of the functional response signal of the function corresponding to the functional fault signal.
[0030] In a specific example, the upper-level intelligent driving controller will check whether the function response signal of the lower-level actuator is normal. If it is not normal, the function fault signal of this function of the upper-level intelligent driving controller will be set to Error, and the lower-level actuator will also check the function fault signal of the upper-level intelligent driving controller. If the function fault signal fails, the lower-level actuator will only not execute the function request, but will not convert its own signal state to Error. On the contrary, if its own signal state is converted to Error, the upper-level intelligent driving controller sets the function state to Error due to other faults, and the lower-level actuator will also convert the execution state to Error when it detects it. At this time, the lower-level actuator will also monitor this information. Even if other faults are eliminated, the function state will continue to remain in Error because the lower-level actuator reports Error. This forms a verification interlock, and the interlock state will never be jumped out. Unless the car is restarted, each can be initialized.
[0031] It should be noted that response_functionX_st (X: 1, 2, 3...) only represents the response capability of the actuator body to the function, and has nothing to do with the upper controller. The signal is switched to NOK only when the actuator body cannot execute the function. This embodiment solves the problem of verification interlocking between the intelligent driving controller and the underlying actuator in the intelligent driving system, while also maintaining the mutual verification between the upper controller and the underlying actuator, thereby ensuring driving safety.
[0032] Optionally, the functional fault signal may include at least one of the following: an adaptive cruise acceleration fault signal, an adaptive cruise deceleration fault signal, an adaptive cruise corner fault signal, and an automatic emergency braking deceleration fault signal; the functional response signal may include at least one of the following: an adaptive cruise acceleration response signal, an adaptive cruise deceleration response signal, an adaptive cruise corner response signal, and an automatic emergency braking deceleration response signal.
[0033] For the adaptive cruise function and the automatic emergency braking function, the functional fault signal set by the controller may be an adaptive cruise acceleration fault signal, an adaptive cruise deceleration fault signal, an adaptive cruise corner fault signal, and an automatic emergency braking deceleration fault signal, and correspondingly, the functional response signal may be an adaptive cruise acceleration response signal, an adaptive cruise deceleration response signal, an adaptive cruise corner response signal, and an automatic emergency braking deceleration response signal, that is, each functional fault signal corresponds to a unique functional response signal. Of course, the assisted driving function may also include a vehicle centering driving function, then the controller may also be provided with a centering driving corner fault signal, and the actuator may also be provided with a centering driving corner response signal. In this embodiment, the functional fault signal is designed according to the assisted driving function, and this embodiment does not specifically limit this.
[0034] On the basis of the above embodiment, in addition to the function fault signal, the controller in this embodiment also has a body fault signal, such as Figure 2 As shown, Figure 2 A flowchart of another method for verifying the interface between a controller and an actuator is provided for an embodiment of the present invention. The method in this embodiment includes the following steps:
[0035] Step S201: The controller checks the function response signal of the actuator. If the signal state of the function response signal is abnormal, the signal state of the function fault signal of the function corresponding to the function response signal of the controller is set to a fault state.
[0036] Step S202: The executor detects the function fault signal of the controller. If the signal state of the function fault signal is a fault state, the function request of the controller corresponding to the function fault signal is not executed.
[0037] Step S203: the actuator detects the main body fault signal of the controller. If the signal state of the main body fault signal is a fault state, all function requests of the controller are not executed.
[0038] Optionally, the main body fault signal includes at least one of the following: an overheating fault signal, a low temperature fault signal, and a low pressure fault signal.
[0039] In the upper-level controller, a signal system_st {0: no_error, 1: error} is designed to characterize the fault state of the intelligent driving controller body. In the above signal, 1 represents the fault state (error) and 0 represents the normal state (no_error). When the driving assistance body fails, such as when the temperature is overheated and the controller cannot work normally, system_st will send an error state. In addition to the above-mentioned overheating fault signal, the body fault signal can also include a low temperature fault signal and a low voltage fault signal. When the signal state of the body fault signal is a fault state, it means that the hardware of the controller itself is faulty, and any function request will have a control error, leading to safety problems. In this embodiment, the signal state of the body fault signal is detected as a fault state, and the actuator does not execute all function requests of the controller.
[0040] In a specific example, the upper-level controller will check the response_functionX_st signal status of the lower-level controller. If it finds that the signal status of a certain actuator is NOK, it will set its own functionX_st signal status to Error; the lower-level actuator will monitor the system_st and functionX_st of the upper-level controller. If it finds that the system_st signal status is error, it will not execute all requests of the controller. If it finds that the signal status of functionX_st is error, it will not respond to the request of this function. However, the response_functionX_st status corresponding to this function is not affected by the upper-level controller, and it must always represent the response status of the actuator body to this function.
[0041] In this embodiment, by setting the corresponding functional fault signal and the main fault signal of the intelligent driving controller in the upper layer, the upper and lower layer controllers can check each other and monitor each other's real-time status. When there is a fault on one side of the upper layer controller, the bottom layer actuator will not respond to the request of its corresponding function, but its own status signal will remain normal, continuously representing the response capability of the bottom layer actuator body. In addition, fault detection is not limited to each function, but also detects the fault of the controller itself, further improving the safety performance of the assisted driving system and the reliability of the car.
[0042] In another embodiment, when the corresponding functions of the controller and the actuator fail, the fault information can also be transmitted to the driver through the instrument control unit to make the driver drive more cautiously. Figure 3 As shown, Figure 3 A flowchart of another method for verifying the interface between a controller and an actuator is provided for an embodiment of the present invention. The method in this embodiment includes the following steps:
[0043] Step S301: The controller checks the function response signal of the actuator. If the signal state of the function response signal is abnormal, the signal state of the function fault signal of the function corresponding to the function response signal of the controller is set to a fault state.
[0044] Step S302: The executor detects the function fault signal of the controller. If the signal state of the function fault signal is a fault state, the function request of the controller corresponding to the function fault signal is not executed.
[0045] Step S303: If the signal state of the functional fault signal is a fault state, the controller sends first fault information corresponding to the functional fault signal to the instrument control unit.
[0046] Step S304: The instrument control unit is used to light up the corresponding fault display light according to the first fault information.
[0047] Optionally, different functional fault signals may correspond to fault display lights of different colors or different display frequencies, so as to facilitate differentiation of fault types.
[0048] Optionally, if the signal state of the main body fault signal is a fault state, the controller sends a second fault signal corresponding to the main body fault signal to the instrument control unit, and the instrument control unit is used to light up a corresponding fault display light according to the second fault information.
[0049] In a specific example, the upper-level controller will check the response_functionX_st signal state of the lower-level controller. If it finds that the signal state of a certain actuator is NOK, it will set its own functionX_st signal state to Error and send a first fault message to the instrument control unit. After receiving the first fault message, the instrument control unit will light up the fault light of the function, so that the driver knows that the function has failed and drives more carefully. Similarly, if the upper-level controller finds that the signal state of system_st is Error, it will send a second fault signal corresponding to the main body fault signal to the instrument control unit, and the instrument control unit will light up the corresponding fault display light. The lower-level actuator must monitor the system_st and functionX_st of the upper-level controller. If it finds that the system_st signal state is error, it will not execute all function requests of the controller. If it finds that the signal state of functionX_st is error, it will not execute the function request. However, the response_functionX_st state corresponding to the function is not affected by the upper-level controller, and it must always represent the response state of the actuator body to the function.
[0050] In this embodiment, the upper and lower controllers can check each other and monitor each other's real-time status through the functional fault signal of the upper intelligent driving controller and the main body fault signal of the intelligent driving controller. If the response capability signal of the bottom actuator to a certain function shows an abnormal state, the status signal of the corresponding function of the upper intelligent driving controller will be directly switched to the fault state. After the instrument control unit obtains the information, the fault light of the function will be turned on to inform the driver in time that the function status is abnormal.
[0051] Based on the same concept, an embodiment of the present invention further provides an interface verification device between a controller and an actuator, which can execute the interface verification method between a controller and an actuator provided in any of the above embodiments. Figure 4 A schematic diagram of a controller and actuator interface verification device provided by an embodiment of the present invention, such as Figure 4 As shown, the interface verification device between a controller and an actuator provided in an embodiment of the present invention comprises: a controller 11 and at least one actuator 12;
[0052] The controller 11 is used to check the function response signal of the actuator 12, and when the signal state of the function response signal is an abnormal state, the signal state of the function fault signal of the function corresponding to the function response signal of the controller 11 is set to a fault state;
[0053] The actuator 12 is used to detect the functional fault signal of the controller 11, and when the signal state of the functional fault signal is a fault state, not to execute the functional request of the controller 11 corresponding to the functional fault signal.
[0054] In an embodiment of the present invention, a function fault signal of a corresponding function is set in the controller, and a function response signal of a corresponding function is set in the actuator, so that the controller can verify the signal state of the function response signal, and the actuator can verify the function fault signal. In this embodiment, mutual verification is implemented between the upper-layer controller and the lower-layer controller, so that they monitor each other's real-time status. When the corresponding function of the controller fails, the actuator does not affect the controller's function request, but keeps the signal state of its own function response signal unaffected by the signal state of the function fault signal, that is, the failure of the controller does not affect the actuator's own response capability. In this embodiment, it can ensure that the controller and the actuator can be verified in time when there is a fault, and it can also avoid the problem of verification interlock caused by the actuator being affected by the function fault signal, thereby ensuring the safety of the function operation.
[0055] Figure 5 A schematic structural diagram of another controller and actuator interface verification device provided in an embodiment of the present invention, based on the above embodiment, the controller 11 is an assisted driving controller 111; the actuator 12 includes at least one of the following: an engine controller 121, a vehicle controller 122, a chassis controller 123 and an electric power steering controller 124; the assisted driving controller 111 is electrically connected to each actuator 12 via a local area network bus CAN; the interface verification device between the controller 11 and the actuator 12 also includes: an instrument control unit 13; the controller 11 is also used to send a first fault information corresponding to the functional fault signal to the instrument control unit 13 when the signal state of the functional fault signal is a fault state; the instrument control unit 13 is used to light up the corresponding fault display light 14 according to the first fault information.
[0056] Controller Area Network (CAN) is a serial communication protocol bus for real-time applications. It can use twisted pair cables to transmit signals and is one of the most widely used field buses in the world. The CAN protocol is used for communication between various components in the car to replace expensive and bulky distribution harnesses. The controller 11 and each actuator 12 are electrically connected via the CAN bus. The CAN bus and the instrument control unit 13 can also be electrically connected via the CAN bus.
[0057] The upper controller refers to the auxiliary driving controller 111 in the car. By collecting information from sensors such as cameras and radars, it plans the next driving behavior of the car. Generally, it sends acceleration, deceleration, and turning function requests to the underlying engine controller 121 / vehicle controller 122, chassis controller 123, and electric power steering controller 124 through CAN signals or Ethernet signals to achieve the expected driving behavior. If a certain function request has a fault, the first fault information will also be sent through the CAN signal or Ethernet signal, so that the instrument control unit 13 can be informed of the first fault information, and the fault display light 14 will be turned on to inform the driver.
[0058] The functional fault signals and functional response signals of the functions involved in the intelligent driving controller and the underlying actuator are used to monitor each other to ensure the safety of the function operation. When the functional fault signal of the upper-level intelligent driving controller is in a fault state, the functional response signal of the underlying controller shall remain in a normal state, continuously representing the response capability of the entity, but shall not respond to the request of the upper-level fault function. If the functional response signal of a function of the underlying actuator is displayed as an abnormal state, the state signal of the corresponding functional fault signal of the upper-level intelligent driving controller shall be directly switched to the fault state. After the instrument control unit obtains the information, the fault light of the function shall be turned on to promptly inform the driver that the function state is abnormal.
[0059] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims
1. A method for verifying the interface between a controller and an actuator, characterized in that: include: The controller verifies the function response signal of the actuator, and if the signal state of the function response signal is an abnormal state, sets the signal state of the function fault signal of the function corresponding to the function response signal of the controller to a fault state; The actuator detects the functional fault signal of the controller, and if the signal state of the functional fault signal is a fault state, does not execute the functional request of the controller corresponding to the functional fault signal.
2. The method for verifying the interface between the controller and the actuator according to claim 1, characterized in that: Also includes: If the signal state of the functional failure signal is set to a fault state, the actuator does not adjust the signal state of the functional response signal of the function corresponding to the functional failure signal.
3. The method for verifying the interface between the controller and the actuator according to claim 1, characterized in that: The controller is an auxiliary driving controller; The actuator includes at least one of the following: an engine controller, a vehicle controller, a chassis controller and an electric power steering controller.
4. The method for verifying the interface between the controller and the actuator according to claim 1, characterized in that: The functional fault signal includes at least one of the following: an adaptive cruise acceleration fault signal, an adaptive cruise deceleration fault signal, an adaptive cruise corner fault signal, and an automatic emergency braking deceleration fault signal; The functional response signal includes at least one of the following: an adaptive cruise acceleration response signal, an adaptive cruise deceleration response signal, an adaptive cruise corner response signal, and an automatic emergency braking deceleration response signal.
5. The method for verifying the interface between the controller and the actuator according to claim 1, characterized in that: Also includes: The actuator detects a main body fault signal of the controller, and if a signal state of the main body fault signal is a fault state, all function requests of the controller are not executed.
6. The method for verifying the interface between the controller and the actuator according to claim 5, characterized in that: The main body fault signal includes at least one of the following: an overheat fault signal, a low temperature fault signal and a low pressure fault signal.
7. The method for verifying the interface between the controller and the actuator according to claim 1, characterized in that: Also includes: If the signal state of the functional fault signal is a fault state, the controller sends first fault information corresponding to the functional fault signal to the instrument control unit; The instrument control unit is used to light up a corresponding fault display light according to the first fault information.
8. The method for verifying the interface between a controller and an actuator according to claim 1, characterized in that: The signal state of the functional fault signal includes a fault state and a normal state; the fault state means that the controller cannot realize the function corresponding to the functional fault signal; the normal state means that the controller can realize the function corresponding to the functional fault signal; The signal state of the function response signal includes an abnormal state and a normal state; the abnormal state means that the actuator cannot execute the function corresponding to the function response signal; the normal state means that the actuator can execute the function corresponding to the function impact signal.
9. A device for verifying the interface between a controller and an actuator, characterized in that: The method for verifying the interface between a controller and an actuator according to any one of claims 1 to 8 above comprises: a controller and at least one actuator; The controller is used to check the function response signal of the actuator, and when the signal state of the function response signal is an abnormal state, set the signal state of the function fault signal of the function of the controller corresponding to the function response signal to a fault state; The actuator is used to detect the functional fault signal of the controller, and when the signal state of the functional fault signal is a fault state, not execute the functional request of the controller corresponding to the functional fault signal.
10. The interface verification device between the controller and the actuator according to claim 9, characterized in that: The controller is an auxiliary driving controller; the actuator includes at least one of the following: an engine controller, a vehicle controller, a chassis controller and an electric power steering controller; the auxiliary driving controller is electrically connected to each of the actuators via a local area network bus; The interface verification device between the controller and the actuator also includes: an instrument control unit; The controller is also used for sending first fault information corresponding to the functional fault signal to the instrument control unit when the signal state of the functional fault signal is a fault state; The instrument control unit is used to light up a corresponding fault display light according to the first fault information.